int
vpm(int argc, char **argv)
{
if( argc < 2 )
throw std::runtime_error("Provide model name as second argument");
std::string obj_name(argv[1]);
std::string vision_module_dir( ros::package::getPath("vision_module") );
std::string tree_vps_path( vision_module_dir + "/data/tree_vps.txt");
std::string views_path( vision_module_dir + "/../database/cloud_data/"
+ obj_name + "_views" );
// Read the tree vps file
Eigen::MatrixXd tree_vps;
io_utils::file2matrix( tree_vps_path, tree_vps, 3 );
int num_vps = tree_vps.rows();
pcl::PointCloud<pcl::PointXYZ>::Ptr pcd_model_ptr( new pcl::PointCloud<pcl::PointXYZ>);
for(int vp = 0; vp < num_vps; ++vp)
{
// load the view
pcl::PointCloud<pcl::PointXYZ>::Ptr view_ptr( new pcl::PointCloud<pcl::PointXYZ>);
std::string view_path( views_path + "/" + obj_name + "_"
+ boost::lexical_cast<std::string>(vp) +".pcd" );
pcl::io::loadPCDFile<pcl::PointXYZ> ( view_path, *view_ptr );
// rotate to world frame
Eigen::Vector3d camera_position = tree_vps.row(vp).transpose();
Eigen::Vector4d camera_orientation = misc::target2quat( camera_position,
Eigen::Vector3d(0,0,0) );
tf::Transform map_T_snsr;
map_T_snsr.setOrigin( tf::Vector3(camera_position.x(),
camera_position.y(),
camera_position.z()) );
map_T_snsr.setRotation( tf::Quaternion( camera_orientation.x(),
camera_orientation.y(),
camera_orientation.z(),
camera_orientation.w()) );
tf::Transform snsr_T_optical;
snsr_T_optical.setOrigin( tf::Vector3( 0.0, 0.0, 0.0 ) );
snsr_T_optical.setRotation( tf::Quaternion( -0.5, 0.5, -0.5, 0.5 ) );
tf::Transform map_T_optical = map_T_snsr * snsr_T_optical;
pcl_ros::transformPointCloud( *view_ptr, *view_ptr, map_T_optical);
// add to pcd_model
*pcd_model_ptr += *view_ptr;
}
// Save
pcl::PCDWriter writer;
writer.writeASCII( vision_module_dir + "../database/pcd_models/" + obj_name + "_complete.pcd", *pcd_model_ptr );
return 0;
}
// this is just a workbench. most of the stuff here will go into the Frontend class.
int main(int argc, char **argv) {
ros::init(argc, argv, "okvis_node_synchronous");
google::InitGoogleLogging(argv[0]);
FLAGS_stderrthreshold = 0; // INFO: 0, WARNING: 1, ERROR: 2, FATAL: 3
FLAGS_colorlogtostderr = 1;
if (argc != 3 && argc != 4) {
LOG(ERROR) <<
"Usage: ./" << argv[0] << " configuration-yaml-file bag-to-read-from [skip-first-seconds]";
return -1;
}
okvis::Duration deltaT(0.0);
if (argc == 4) {
deltaT = okvis::Duration(atof(argv[3]));
}
// set up the node
ros::NodeHandle nh("okvis_node");
// publisher
okvis::Publisher publisher(nh);
// read configuration file
std::string configFilename(argv[1]);
okvis::RosParametersReader vio_parameters_reader(configFilename);
okvis::VioParameters parameters;
vio_parameters_reader.getParameters(parameters);
okvis::ThreadedKFVio okvis_estimator(parameters);
okvis_estimator.setFullStateCallback(std::bind(&okvis::Publisher::publishFullStateAsCallback,&publisher,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4));
okvis_estimator.setLandmarksCallback(std::bind(&okvis::Publisher::publishLandmarksAsCallback,&publisher,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3));
okvis_estimator.setStateCallback(std::bind(&okvis::Publisher::publishStateAsCallback,&publisher,std::placeholders::_1,std::placeholders::_2));
okvis_estimator.setBlocking(true);
publisher.setParameters(parameters); // pass the specified publishing stuff
// extract the folder path
std::string bagname(argv[2]);
size_t pos = bagname.find_last_of("/");
std::string path;
if (pos == std::string::npos)
path = ".";
else
path = bagname.substr(0, pos);
const unsigned int numCameras = parameters.nCameraSystem.numCameras();
// setup files to be written
publisher.setCsvFile(path + "/okvis_estimator_output.csv");
publisher.setLandmarksCsvFile(path + "/okvis_estimator_landmarks.csv");
okvis_estimator.setImuCsvFile(path + "/imu0_data.csv");
for (size_t i = 0; i < numCameras; ++i) {
std::stringstream num;
num << i;
okvis_estimator.setTracksCsvFile(i, path + "/cam" + num.str() + "_tracks.csv");
}
// open the bag
rosbag::Bag bag(argv[2], rosbag::bagmode::Read);
// views on topics. the slash is needs to be correct, it's ridiculous...
std::string imu_topic("/imu0");
rosbag::View view_imu(
bag,
rosbag::TopicQuery(imu_topic));
if (view_imu.size() == 0) {
LOG(ERROR) << "no imu topic";
return -1;
}
rosbag::View::iterator view_imu_iterator = view_imu.begin();
LOG(INFO) << "No. IMU messages: " << view_imu.size();
std::vector<std::shared_ptr<rosbag::View> > view_cams_ptr;
std::vector<rosbag::View::iterator> view_cam_iterators;
std::vector<okvis::Time> times;
okvis::Time latest(0);
for(size_t i=0; i<numCameras;++i) {
std::string camera_topic("/cam"+std::to_string(i)+"/image_raw");
std::shared_ptr<rosbag::View> view_ptr(
new rosbag::View(
bag,
rosbag::TopicQuery(camera_topic)));
if (view_ptr->size() == 0) {
LOG(ERROR) << "no camera topic";
return 1;
}
view_cams_ptr.push_back(view_ptr);
view_cam_iterators.push_back(view_ptr->begin());
sensor_msgs::ImageConstPtr msg1 = view_cam_iterators[i]
->instantiate<sensor_msgs::Image>();
times.push_back(
okvis::Time(msg1->header.stamp.sec, msg1->header.stamp.nsec));
if (times.back() > latest)
latest = times.back();
LOG(INFO) << "No. cam " << i << " messages: " << view_cams_ptr.back()->size();
}
for(size_t i=0; i<numCameras;++i) {
if ((latest - times[i]).toSec() > 0.01)
view_cam_iterators[i]++;
}
int counter = 0;
okvis::Time start(0.0);
while (ros::ok()) {
ros::spinOnce();
okvis_estimator.display();
// check if at the end
if (view_imu_iterator == view_imu.end()){
std::cout << std::endl << "Finished. Press any key to exit." << std::endl << std::flush;
char k = 0;
while(k==0 && ros::ok()){
k = cv::waitKey(1);
ros::spinOnce();
}
return 0;
}
for (size_t i = 0; i < numCameras; ++i) {
if (view_cam_iterators[i] == view_cams_ptr[i]->end()) {
std::cout << std::endl << "Finished. Press any key to exit." << std::endl << std::flush;
char k = 0;
while(k==0 && ros::ok()){
k = cv::waitKey(1);
ros::spinOnce();
}
return 0;
}
}
// add images
okvis::Time t;
for(size_t i=0; i<numCameras;++i) {
sensor_msgs::ImageConstPtr msg1 = view_cam_iterators[i]
->instantiate<sensor_msgs::Image>();
cv::Mat filtered(msg1->height, msg1->width, CV_8UC1);
memcpy(filtered.data, &msg1->data[0], msg1->height * msg1->width);
t = okvis::Time(msg1->header.stamp.sec, msg1->header.stamp.nsec);
if (start == okvis::Time(0.0)) {
start = t;
}
// get all IMU measurements till then
okvis::Time t_imu=start;
do {
sensor_msgs::ImuConstPtr msg = view_imu_iterator
->instantiate<sensor_msgs::Imu>();
Eigen::Vector3d gyr(msg->angular_velocity.x, msg->angular_velocity.y,
msg->angular_velocity.z);
Eigen::Vector3d acc(msg->linear_acceleration.x,
msg->linear_acceleration.y,
msg->linear_acceleration.z);
t_imu = okvis::Time(msg->header.stamp.sec, msg->header.stamp.nsec);
// add the IMU measurement for (blocking) processing
if (t_imu - start > deltaT)
okvis_estimator.addImuMeasurement(t_imu, acc, gyr);
view_imu_iterator++;
} while (view_imu_iterator != view_imu.end() && t_imu <= t);
// add the image to the frontend for (blocking) processing
if (t - start > deltaT)
okvis_estimator.addImage(t, i, filtered);
view_cam_iterators[i]++;
}
++counter;
// display progress
if (counter % 20 == 0) {
std::cout
<< "\rProgress: "
<< int(double(counter) / double(view_cams_ptr.back()->size()) * 100)
<< "% " ;
}
}
std::cout << std::endl;
return 0;
}
